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Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
Visual recognition ecosystems (e.g. ImageNet, Pascal, COCO) have undeniably played a prevailing role in the evolution of modern computer vision. We argue that interactive and embodied visual AI has reached a stage of development similar to…
Surface treatment tasks such as grinding, sanding or polishing are a vital step of the value chain in many industries, but are notoriously challenging to automate. We present RoboGrind, an integrated system for the intuitive, interactive…
Robotic hardware designs are becoming more complex as the variety and number of on-board sensors increase and as greater computational power is provided in ever-smaller packages on-board robots. These advances in hardware, however, do not…
Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…
Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL) methods attempt to circumvent these problems by utilizing…
Robotic systems have been evolving since decades and touching almost all aspects of life, either for leisure or critical applications. Most of traditional robotic systems operate in well-defined environments utilizing pre-configured…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
The dependence on finite reserves of raw materials and the production of waste are two unsolved problems of the traditional linear economy. Healthcare, as a major sector of any nation, is currently facing them. Hence, in this paper, we…
Recent advances in video diffusion models shows promise for generating robotic decision-making data, with trajectory conditions further enabling fine-grained control. However, existing methods primarily focus on individual object motion and…
To meet the demands for more adaptable and expedient approaches to augment both research and manufacturing, we report an autonomous system using real-time in-situ characterization and an autonomous, decision-making processer based on an…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
While robotic automation has demonstrated remarkable performance, such as executing hundreds of experiments continuously over several days, designing synchronized motions between the robot and experimental jigs remains challenging,…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…
Automation in the life science research laboratory is a paradigm that has gained increasing relevance in recent years. Current robotic solutions often have a limited scope, which reduces their acceptance and prevents the realization of…
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet…
Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…